修改钢针到达抓料点位后再收缩和在震动点不走的问题

2025-02-20 17:48:54 +08:00
parent 1e73137f72
commit 0e69647b11
12 changed files with 3905 additions and 174 deletions
--- a/Trace/handeye_calibration.py
+++ b/Trace/handeye_calibration.py
@ -76,7 +76,7 @@ def getPosition(x,y,z,a,b,c,rotation,points):
    # 单位化方向向量
    short_edge_direction = edge_vector / np.linalg.norm(edge_vector)

-    delta = -30#沿法向量方向抬高和压低，-指表示抬高，+值表示压低
+    delta = -200#沿法向量方向抬高和压低，-指表示抬高，+值表示压低
    angle = np.asarray([a,b,c])
    noraml = camera2robot[:3, :3]@angle
    normal_vector = noraml / np.linalg.norm(noraml)